Magic Leap, Inc.

Dacuda Ag

Ml Netherlands C.v.

Martin Georg Zahnert

Alexander Ilic

Erik Fonseka

Dominik Michael Kasper

Ashwin Swaminathan

Joao Antonio Pereira Faro

Miguel Andres Granados Velasquez

Anush Mohan

Prateek Singhal

Andreas Breitenmoser

Manel Quim Sanchez Nicuesa

Omid Ghasemalizadeh

Benjamin Langmann

Evan Gregory Levine

Igor Napolskikh

Sergiu Sima

Yu-Hsiang Huang

Christoph Tobler

Simon Meier

Blazej Marek Czuprynski

Javier Victorio Gomez Gonzalez

Samuel A Miller

Koon Keong Shee

Zachary C Nienstedt

Christopher Lopez

Brian Edward Oliver Bucknor

Daniel Roberts

Nathan Yuki Baumli

Emily Elizabeth Mount

Nikola Stan

Andrea Lampart

Rafa Gomez-Jordana Manas

Wearable systems and method for operation thereof incorporating headset and controller localization using headset cameras and controller fiducials are disclosed. A wearable system may include a headset and a controller. The wearable system may alternate between performing headset tracking and performing controller tracking by repeatedly capturing images using a headset camera of the headset during headset tracking frames and controller tracking frames. The wearable system may cause the headset camera to capture a first exposure image an exposure above a threshold and cause the headset camera to capture a second exposure image having an exposure below the threshold. The wearable system may determine a fiducial interval during which fiducials of the controller are to flash at a fiducial frequency and a fiducial period. The wearable system may cause the fiducials to flash during the fiducial interval in accordance with the fiducial frequency and the fiducial period.

Wearable system with controller localization using headset cameras and controller fiducials

An image sensor suitable for use in an augmented reality system to provide low latency image analysis with low power consumption. The augmented reality system can be compact, and may be small enough to be packaged within a wearable device such as a set of goggles or mounted on a frame resembling ordinary eyeglasses. The image sensor may receive information about a region of an imaging array associated with a movable object and selectively output imaging information for that region. The region may be updated dynamically as the image sensor and/or the object moves. Such an image sensor provides a small amount of data from which object information used in rendering an augmented reality scene can be developed. The amount of data may be further reduced by configuring the image sensor to output indications of pixels for which the measured intensity of incident light changes.

Patch tracking image sensor

A wearable display system for a cross reality (XR) system may have a dynamic vision sensor (DVS) camera and a color camera. At least one of the cameras may be a plenoptic camera. The wearable display system may dynamically restrict processing of image data from either or both cameras based on detected conditions and XR function being performed. For tracking an object, image information may be processed for patches of a field of view of either or both cameras corresponding to the object. The object may be tracked based on asynchronously acquired events indicating changes within the patches. Stereoscopic or other types of image information may be used when event-based object tacking yields an inadequate quality metric. The tracked object may be a user's hand or a stationary object in the physical world, enabling calculation of the pose of the wearable display system and of the wearer's head.

Lightweight and low power cross reality device with high temporal resolution

A wearable display system including multiple cameras and a processor is disclosed. A greyscale camera and a color camera can be arranged to provide a central view field associated with both cameras and a peripheral view field associated with one of the two cameras. One or more of the two cameras may be a plenoptic camera. The wearable display system may acquire light field information using the at least one plenoptic camera and create a world model using the first light field information and first depth information stereoscopically determined from images acquired by the greyscale camera and the color camera. The wearable display system can track head pose using the at least one plenoptic camera and the world model. The wearable display system can track objects in the central view field and the peripheral view fields using the one or two plenoptic cameras, when the objects satisfy a depth criterion.

Lightweight cross reality device with passive depth extraction

Examples of the disclosure describe systems and methods for presenting virtual content on a wearable head device. In some embodiments, a state of a wearable head device is determined by minimizing a total error based on a reduced weight associated with a reprojection error. A view reflecting the determined state of the wearable head device is presented via a display of the wearable head device. In some embodiments, a wearable head device calculates a preintegration term based on the image data received via a sensor of the wearable head device and the inertial data received via a first IMU and a second IMU of the wearable head device. The wearable head device estimates a position of the device based on the preintegration term, and the wearable head device presents the virtual content based on the position of the device.

Dual IMU SLAM

To determine the head pose of a user, a head-mounted display system having an imaging device can obtain a current image of a real-world environment, with points corresponding to salient points which will be used to determine the head pose. The salient points are patch-based and include: a first salient point being projected onto the current image from a previous image, and with a second salient point included in the current image being extracted from the current image. Each salient point is subsequently matched with real-world points based on descriptor-based map information indicating locations of salient points in the real-world environment. The orientation of the imaging devices is determined based on the matching and based on the relative positions of the salient points in the view captured in the current image. The orientation may be used to extrapolate the head pose of the wearer of the head-mounted display system.

Enhanced pose determination for display device

A high-resolution image sensor suitable for use in an augmented reality (AR) system to provide low latency image analysis with low power consumption. The AR system can be compact, and may be small enough to be packaged within a wearable device such as a set of goggles or mounted on a frame resembling ordinary eyeglasses. The image sensor may receive information about a region of an imaging array associated with a movable object, selectively output imaging information for that region, and synchronously output high-resolution image frames. The region may be updated dynamically as the image sensor and/or the object moves. The image sensor may output the high-resolution image frames less frequently than the region being updated when the image sensor and/or the object moves. Such an image sensor provides a small amount of data from which object information used in rendering an AR scene can be developed.

Event-based camera with high-resolution frame output

A high-resolution image sensor suitable for use in an augmented reality (AR) system. The AR system may be small enough to be packaged within a wearable device such as a set of goggles or mounted on a frame resembling ordinary eyeglasses. The image sensor may have pixels configured to output events indicating changes in sensed IR light. Those pixels may be sensitive to IR light of the same frequency source as an active IR light source, and may be part of an eye tracking camera, oriented toward a user's eye. Changes in IR light may be used to determine the location of the user's pupil, which may be used in rendering virtual objects. The events may be generated and processed at a high rate, enabling the system to render the virtual object based on the user's gaze so that the virtual object will appear more realistic to the user.

Event-based IR camera

A wearable display system for cross reality (XR) systems may have a dynamic vision sensor (DVS) camera and a color camera. At least one of the cameras may be a plenoptic camera. The wearable display system may dynamically restrict processing of image data from either or both cameras based on detected conditions and XR functions being performed. For object tracking, image information may be processed for patches of a field of view of either or both cameras corresponding to the object. Objects may be tracked based on asynchronously acquired events indicating changes within patches. Stereoscopic or other types of image information may be used when event-based object tacking yields an inadequate quality metric. Tracked objects may include a user's hand or a stationary object in the physical world, enabling calculation of the pose of the wearable display system and the wearer's head.

An image sensor suitable for use in an augmented reality system to provide low latency image analysis with low power consumption. The image sensor may have multiple pixel cells, each of the pixel cells comprising a photodetector to generate an electric signal based on an intensity of light incident upon the photodetector. The pixel cells may include multiple subsets of pixel cells, each subset of pixel cells including at least one angle-of-arrival to-intensity converter to modulate incident light reaching one or more of the pixel cells in the subset based on an angle of arrival of the incident light. Each pixel cell within the plurality of pixel cells may include differential readout circuitry configured to output a readout signal only when an amplitude of a current electric signal from the photodetector is different from an amplitude of a previous electric signal from the photodetector.

Depth based dynamic vision sensor

An augmented reality device has a radar system that generates radar maps of locations of real world objects. An inertial measurement unit detects measurement values such as acceleration, gravitational force and inclination ranges. The values from the measurement unit drift over time. The radar maps are processed to determine fingerprints and the fingerprints are combined with the values from the measurement unit to store a pose estimate. Pose estimates at different times are compared to determine drift of the measurement unit. A measurement unit filter is adjusted to correct for the drift.

Radar head pose localization

Growing community of inventors

Zurich, Switzerland

Martin Georg Zahnert